public Intake() { preferences = Preferences.getInstance(); leftGate = new DoubleSolenoid( ElectricalConstants.rightGateForward, ElectricalConstants.rightGateReverse); rightGate = new Solenoid(ElectricalConstants.leftGate); try { arm = new CANJaguar(ElectricalConstants.armJag); arm.changeControlMode(CANJaguar.ControlMode.kPercentVbus); arm.configNeutralMode(CANJaguar.NeutralMode.kBrake); arm.configFaultTime(0.5); arm.configPotentiometerTurns(1); arm.setPositionReference(CANJaguar.PositionReference.kPotentiometer); arm.setPID(0, 0, 0); arm.enableControl(0); } catch (CANTimeoutException ex) { ex.printStackTrace(); } rollers = new Victor(ElectricalConstants.rollerVic); }
public void reInit() { try { jagFlip = new CANJaguar(ElectricalConstants.JagFlipper); jagFlip.changeControlMode(CANJaguar.ControlMode.kPosition); jagFlip.configFaultTime(0.5); jagFlip.configNeutralMode(CANJaguar.NeutralMode.kBrake); jagFlip.configPotentiometerTurns(10); jagFlip.setPositionReference(CANJaguar.PositionReference.kPotentiometer); jagFlip.setPID(p, i, d); jagFlip.enableControl(0); } catch (CANTimeoutException ex) { ex.printStackTrace(); } }
private Flipper() { p = PIDConstants.flipperP; i = PIDConstants.flipperI; d = PIDConstants.flipperD; try { jagFlip = new CANJaguar(ElectricalConstants.JagFlipper); jagFlip.changeControlMode(CANJaguar.ControlMode.kPosition); jagFlip.configFaultTime(0.5); jagFlip.configNeutralMode(CANJaguar.NeutralMode.kBrake); jagFlip.configPotentiometerTurns(10); jagFlip.setPositionReference(CANJaguar.PositionReference.kPotentiometer); jagFlip.setPID(p, i, d); jagFlip.enableControl(0); } catch (CANTimeoutException ex) { ex.printStackTrace(); } gotoPosition(); }